#ifndef SDKELI_LSPD_PARSER__
#define SDKELI_LSPD_PARSER__

#include <sdkeli_lspd_udp/parser_base.h>

namespace sdkeli_lspd_udp
{
class CSDKeliLspdParser : public CParserBase
{
public:
    CSDKeliLspdParser();
    virtual ~CSDKeliLspdParser();

    virtual int Parse(char *data, size_t data_length, SDKeliLspdConfig &config, sensor_msgs::LaserScan &msg);

    void SetRangeMin(float minRange);
    void SetRangeMax(float maxRange);
    void SetTimeIncrement(float time);

private:
    float fRangeMin;
    float fRangeMax;
    float fTimeIncrement;
};
} /*namespace sdkeli_lspd_udp*/

#endif /*SDKELI_LSPD_PARSER__*/
